JP2020149323A - Information processor and automated travel control system therewith - Google Patents
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Abstract
Description
本発明は、情報処理装置及び情報処理装置を備える自動走行制御システムに関する。 The present invention relates to an information processing device and an automatic traveling control system including the information processing device.
近年、人間が一部の運転操作を行わなくとも自律的に走行することができる自動運転車両が知られている。自動運転車両には、例えば、車両の周囲を撮像するための車外監視カメラ(以下、単にカメラとも称する)が搭載されている。この自動運転車両においては、一部の機器が故障等により通信障害等が発生しても、安全に走行するための技術が求められている。 In recent years, there are known self-driving vehicles that allow humans to drive autonomously without performing some driving operations. The autonomous driving vehicle is equipped with, for example, an outside surveillance camera (hereinafter, also simply referred to as a camera) for photographing the surroundings of the vehicle. In this self-driving vehicle, a technique for safely traveling is required even if a communication failure or the like occurs due to a failure of some devices or the like.
特許文献1は、位置推定情報の一部を取得できない場合、取得された残りの位置推定情報に基づいて自動運転可能か判断する自動運転制御システムを開示する。 Patent Document 1 discloses an automatic operation control system that determines whether automatic operation is possible based on the remaining acquired position estimation information when a part of the position estimation information cannot be acquired.
特許文献1には、自動運転中に、自動運転車両に搭載されたカメラが故障した場合に自動運転を継続させる技術は開示されていない。自動運転中に、自動運転車両に搭載された車外監視カメラが故障した場合には、車両の安全運転制御や自動運転制御に影響を及ぼす可能性がある。 Patent Document 1 does not disclose a technique for continuing automatic driving when a camera mounted on the automatic driving vehicle breaks down during automatic driving. If the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down during autonomous driving, it may affect the safe driving control and the autonomous driving control of the vehicle.
そこで、本発明は、自動運転車両に搭載された車外監視カメラが故障した場合に、車両の安全運転制御や自動運転制御に影響を及ぼすことを抑制することができる技術を提供することを目的とする。 Therefore, an object of the present invention is to provide a technique capable of suppressing the influence on the safe driving control and the automatic driving control of the vehicle when the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down. To do.
本発明の一態様に係る情報処理装置は、車外監視カメラを搭載した自動運転車両に対し、自動運転に必要な制御情報を送信する情報処理装置であって、自動運転車両が備える無線通信手段から送信された信号を受信する受信部と、無線通信手段からの信号に基づいて、車外監視カメラが故障した故障車両を判定する故障判定部と、車外監視カメラの故障と判定された故障車両の故障地点からの走行予定ルートと、少なくとも一部の区間が同一のルートを走行予定の特定車両を検知する検知部と、特定車両の前方又は後方を走行するように、故障車両に走行制御情報を送信する送信部と、を備える。 The information processing device according to one aspect of the present invention is an information processing device that transmits control information necessary for automatic driving to an automatically driven vehicle equipped with an external surveillance camera, and is from a wireless communication means included in the automatically driven vehicle. A receiver that receives the transmitted signal, a failure determination unit that determines a failed vehicle in which the outside surveillance camera has failed based on a signal from the wireless communication means, and a failure in the failed vehicle that is determined to be a failure of the outside surveillance camera. A detection unit that detects a specific vehicle that is scheduled to travel on the same route as the planned travel route from the point, and transmits travel control information to the failed vehicle so that the vehicle travels in front of or behind the specific vehicle. It is provided with a transmitter to be used.
この態様によれば、自動運転車両に搭載された車外監視カメラが故障した場合に、故障地点からの走行予定ルートと少なくとも一部の区間が同一のルートを走行予定の特定車両の前方又は後方を走行するように、車外監視カメラが故障した車両の走行制御を行うことができる。これにより、車外監視カメラが故障した場合であっても当該故障した車両の自動運転を継続することができるので、車両の安全運転制御や自動運転制御に著しい影響を及ぼすことを抑制することができる。 According to this aspect, when the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down, the front or rear of the specific vehicle scheduled to travel on the same route as at least a part of the planned travel route from the failure point. It is possible to control the running of a vehicle in which the out-of-vehicle surveillance camera has failed so as to run. As a result, even if the out-of-vehicle surveillance camera breaks down, the automatic driving of the failed vehicle can be continued, so that it is possible to suppress a significant influence on the safe driving control and the automatic driving control of the vehicle. ..
本発明によれば、自動運転車両に搭載された車外監視カメラが故障した場合に、車両の安全運転制御や自動運転制御に影響を及ぼすことを抑制することができる技術を提供することができる。 According to the present invention, it is possible to provide a technique capable of suppressing the influence on the safe driving control and the automatic driving control of the vehicle when the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down.
添付図面を参照して、本発明の好適な実施形態について説明する。なお、各図において、同一の符号を付したものは、同一又は同様の構成を有する。 Preferred embodiments of the present invention will be described with reference to the accompanying drawings. In each figure, those having the same reference numerals have the same or similar configurations.
図1は、複数の車両100とネットワークNを介して接続される情報処理装置10を備える自動走行制御システム1を示している。なお、特定の車両100について言及するときは、車両100A、車両100Bなどと呼称し、総称するときは単に車両100と呼称する。 FIG. 1 shows an automatic driving control system 1 including an information processing device 10 connected to a plurality of vehicles 100 via a network N. When referring to a specific vehicle 100, it is referred to as a vehicle 100A, a vehicle 100B, etc., and when it is generically referred to, it is simply referred to as a vehicle 100.
図1に示す通信ネットワークNは、例えば、インターネット、LAN、移動体通信網、ブルートゥース(登録商標)、WiFi(Wireless Fidelity)、その他の通信回線、それらの組み合わせなどのいずれであってもよい。なお、情報処理装置10の少なくとも一部は、1以上のコンピュータにより構成されるクラウドコンピューティングにより実現されていてもよい。加えて、車両100の制御装置110(後述)における処理の少なくとも一部を、情報処理装置10により実行する構成としてもよい。 The communication network N shown in FIG. 1 may be, for example, the Internet, a LAN, a mobile communication network, Bluetooth (registered trademark), WiFi (Wireless Fidelity), other communication lines, or a combination thereof. At least a part of the information processing device 10 may be realized by cloud computing composed of one or more computers. In addition, at least a part of the processing in the control device 110 (described later) of the vehicle 100 may be executed by the information processing device 10.
図2は、図1に示す情報処理装置10のハードウェア構成の一例を示す図である。情報処理装置10は、プロセッサ12と、メモリ14と、ストレージ16と、入出力インタフェース(入出力I/F)18と、通信インタフェース(通信I/F)19とを含む。情報処理装置10のHW(Hard Ware)の各構成要素は、例えばバスBを介して相互に接続される。 FIG. 2 is a diagram showing an example of the hardware configuration of the information processing apparatus 10 shown in FIG. The information processing device 10 includes a processor 12, a memory 14, a storage 16, an input / output interface (input / output I / F) 18, and a communication interface (communication I / F) 19. Each component of the HW (Hard Ware) of the information processing apparatus 10 is connected to each other via, for example, a bus B.
情報処理装置10は、プロセッサ12と、メモリ14と、ストレージ16と、入出力I/F18と、通信I/F19との協働により、本実施形態に記載される機能、及び/又は方法を実現する。 The information processing device 10 realizes the functions and / or methods described in the present embodiment by the cooperation of the processor 12, the memory 14, the storage 16, the input / output I / F18, and the communication I / F19. To do.
プロセッサ12は、ストレージ16に記憶されるプログラムに含まれるコードまたは命令によって実現する機能、および/または、方法を実行する。プロセッサ12は、例えば、中央処理装置(CPU)、MPU(Micro Processing Unit)、GPU、マイクロプロセッサ(microprocessor)、プロセッサコア(processor core)、マルチプロセッサ(multiprocessor)、ASIC(Application-Specific Integrated Circuit)、FPGA(Field Programmable Gate Array)等を含む。 The processor 12 executes a function and / or a method realized by a code or an instruction contained in a program stored in the storage 16. The processor 12 includes, for example, a central processing unit (CPU), an MPU (Micro Processing Unit), a GPU, a microprocessor (microprocessor), a processor core (processor core), a multiprocessor (multiprocessor), an ASIC (Application-Specific Integrated Circuit), and the like. Includes FPGA (Field Programmable Gate Array) and the like.
メモリ14は、ストレージ16からロードしたプログラムを一時的に記憶し、プロセッサ12に対して作業領域を提供する。メモリ14には、プロセッサ12がプログラムを実行している間に生成される各種データも一時的に格納される。メモリ14は、例えば、RAM(Random Access Memory)、ROM(Read Only Memory)などを含む。 The memory 14 temporarily stores the program loaded from the storage 16 and provides a work area to the processor 12. Various data generated while the processor 12 is executing the program are also temporarily stored in the memory 14. The memory 14 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
ストレージ16は、プロセッサ12により実行されるプログラム等を記憶する。ストレージ16は、例えば、HDD(Hard Disk Drive)、SSD(Solid State Drive)、 フラッシュメモリなどを含む。 The storage 16 stores a program or the like executed by the processor 12. The storage 16 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, and the like.
入出力I/F18は、情報処理装置10に対する各種操作を入力する入力装置、および、情報処理装置10で処理された処理結果を出力する出力装置を含む。 The input / output I / F 18 includes an input device for inputting various operations to the information processing device 10 and an output device for outputting the processing result processed by the information processing device 10.
通信I/F19は、ネットワークを介して各種データの送受信を行う。当該通信は、有線、無線のいずれで実行されてもよく、互いの通信が実行できるのであれば、どのような通信プロトコルを用いてもよい。通信I/F19は、ネットワークを介して、車両100との通信を実行する機能を有する。通信I/F19は、各種データをプロセッサ12からの指示に従って、他の情報処理装置や車両100に送信する。 The communication I / F 19 transmits and receives various data via the network. The communication may be executed by wire or wirelessly, and any communication protocol may be used as long as mutual communication can be executed. The communication I / F 19 has a function of executing communication with the vehicle 100 via the network. The communication I / F 19 transmits various data to another information processing device or the vehicle 100 according to an instruction from the processor 12.
本実施形態のプログラムは、コンピューターに読み取り可能な記憶媒体に記憶された状態で提供されてもよい。 記憶媒体は、「一時的でない有形の媒体」に、プログラムを記憶可能である。プログラムは、例えば、ソフトウェアプログラムやコンピュータプログラムを含む。 The program of the present embodiment may be provided in a state of being stored in a storage medium readable by a computer. The storage medium can store the program in a "non-temporary tangible medium". Programs include, for example, software programs and computer programs.
情報処理装置10における処理の少なくとも一部は、1以上のコンピューターにより構成されるクラウドコンピューティングにより実現されていてもよい。情報処理装置10における処理の少なくとも一部を、他の情報処理装置により行う構成としてもよい。この場合、プロセッサ12により実現される各機能部の処理のうち少なくとも一部の処理を、他の情報処理装置で行う構成としてもよい。 At least a part of the processing in the information processing apparatus 10 may be realized by cloud computing composed of one or more computers. At least a part of the processing in the information processing apparatus 10 may be performed by another information processing apparatus. In this case, at least a part of the processing of each functional unit realized by the processor 12 may be performed by another information processing device.
図3は、車両100の概略的なハードウェア構成を示すブロック図である。 FIG. 3 is a block diagram showing a schematic hardware configuration of the vehicle 100.
図3に示されるように、車両100は、制御装置110と、この制御装置110とバス等で相互に接続される通信装置120、センサ装置130、レーダ装置140、カメラ装置150、ナビゲーション装置160、駆動装置170及び入出力装置180を示している。 As shown in FIG. 3, the vehicle 100 includes a control device 110, a communication device 120 connected to the control device 110 by a bus or the like, a sensor device 130, a radar device 140, a camera device 150, and a navigation device 160. The drive device 170 and the input / output device 180 are shown.
制御装置110は、これに接続される各装置から所定の信号を受信し、演算処理等を行い、各装置を駆動するための制御信号を出力する。制御装置110は、プロセッサ110Aとメモリ110Bを備えている。制御装置110は、メモリ110Bに記録されているコンピュータプログラムをプロセッサ110Aが実行することにより、本実施形態に係る運転支援システムとして機能することができる。 The control device 110 receives a predetermined signal from each device connected to the control device 110, performs arithmetic processing, and outputs a control signal for driving each device. The control device 110 includes a processor 110A and a memory 110B. The control device 110 can function as the driving support system according to the present embodiment by the processor 110A executing the computer program recorded in the memory 110B.
プロセッサ110Aは、メモリ110Bに記憶されるファームウェア等のコンピュータプログラムに従って所定の演算処理を実行する。プロセッサ110Aは、一又は複数の中央処理装置(CPU)、MPU(Micro Processing Unit)、GPU、マイクロプロセッサ(microprocessor)、プロセッサコア(processor core)、マルチプロセッサ(multiprocessor)、ASIC(Application-Specific Integrated Circuit)、FPGA(Field Programmable Gate Array)などで実現される。 The processor 110A executes a predetermined arithmetic process according to a computer program such as firmware stored in the memory 110B. The processor 110A includes one or more central processing units (CPUs), MPUs (Micro Processing Units), GPUs, microprocessors (microprocessors), processor cores, multiprocessors, and ASICs (Application-Specific Integrated Circuits). ), FPGA (Field Programmable Gate Array), etc.
メモリ110Bは、MRAM、NANDフラッシュメモリ、NORフラッシュメモリ又はSSD、ハードディスクドライブ等の不揮発性メモリと、SRAM又はDRAM等の揮発性メモリを備えている。不揮発性メモリには、本開示のフローチャートその他で示される各種演算処理を実行するためのコンピュータプログラムや地図データその他本開示で必要となる各種データが記憶されている。不揮発性メモリは、一時的でない有形の媒体に相当する。揮発性メモリは、不揮発性メモリからロードしたコンピュータプログラムや、プロセッサ110Aがコンピュータプログラムを実行している間に生成される各種データを一時的に格納する作業領域を提供する。なお、不揮発性メモリは、通信装置120から取得したコンピュータプログラムやデータを格納してもよい。 The memory 110B includes a non-volatile memory such as an MRAM, a NAND flash memory, a NOR flash memory or an SSD, and a hard disk drive, and a volatile memory such as an SRAM or a DRAM. The non-volatile memory stores computer programs and map data for executing various arithmetic processes shown in the flowcharts and other aspects of the present disclosure, and various other data required in the present disclosure. Non-volatile memory corresponds to a non-temporary tangible medium. The volatile memory provides a work area for temporarily storing a computer program loaded from the non-volatile memory and various data generated while the processor 110A is executing the computer program. The non-volatile memory may store computer programs and data acquired from the communication device 120.
通信装置120は、情報処理装置10等の外部機器と情報を送受信するための手段を備えており、例えば、WiFi(IEEEによって策定された802.11規格に基づく無線通信方式)等の一又は複数の通信手段を備えている。外部機器は、他の車両100であってもよいし、道路の路面下や電柱、建築物等に設置されているインフラ設備であってもよい。更に通信装置120は、GPS信号を受信し、車両100の位置情報を制御装置110に出力する。 The communication device 120 includes means for transmitting and receiving information to and from an external device such as an information processing device 10, and for example, one or a plurality of communications such as WiFi (a wireless communication method based on the 802.11 standard established by the IEEE). It has the means. The external device may be another vehicle 100, or may be an infrastructure facility installed under a road surface, a utility pole, a building, or the like. Further, the communication device 120 receives the GPS signal and outputs the position information of the vehicle 100 to the control device 110.
センサ装置130は、車両100の挙動を検出するためのセンサであり、車両の車速を検出するロータリーエンコーダと、車両の傾きを検出するためのジャイロセンサを備えている。また、道路に埋設されているマーカその他を検出するための磁気センサ等を備えていてもよい。レーダ装置140は、歩行者等との衝突を回避するためのミリ波レーダを含むLiDARの測距システムを備えている。カメラ装置150は、車両100の前方、左右及び後方の画像(車両100周辺を含む画像)を撮像するための、CCDやCMOSイメージセンサなどの撮像素子を備える複数台のカメラを備えている。制御装置110は、これらセンサ装置130、レーダ装置140及びカメラ装置150が取得した信号を受信し、それらに基づいた制御信号を装置に出力することができる。例えば、カメラ装置150が撮像した撮像信号を取得して画像認識を実行し、撮像された画像内に含まれる障害物等を認識し、それに従って例えば駆動装置170に車両100を停止させるための制御信号を出力することができる。但し、カメラ装置150内に画像認識等を可能とするGPUなど画像処理用の半導体ICを搭載し、カメラ装置150のカメラ等で撮像された画像に基づいて車両100が走行すべきレーンや歩行者等の障害物を認識し、制御装置110に出力するように構成してもよい。 The sensor device 130 is a sensor for detecting the behavior of the vehicle 100, and includes a rotary encoder for detecting the vehicle speed of the vehicle and a gyro sensor for detecting the inclination of the vehicle. Further, a magnetic sensor or the like for detecting a marker or the like embedded in the road may be provided. The radar device 140 includes a LiDAR ranging system including a millimeter-wave radar for avoiding a collision with a pedestrian or the like. The camera device 150 includes a plurality of cameras including image pickup elements such as a CCD and a CMOS image sensor for capturing images of the front, left, right, and rear of the vehicle 100 (images including the periphery of the vehicle 100). The control device 110 can receive the signals acquired by the sensor device 130, the radar device 140, and the camera device 150, and output a control signal based on them to the device. For example, control for acquiring an image pickup signal captured by the camera device 150, executing image recognition, recognizing an obstacle or the like contained in the captured image, and, for example, causing the drive device 170 to stop the vehicle 100 accordingly. A signal can be output. However, a semiconductor IC for image processing such as a GPU that enables image recognition is mounted in the camera device 150, and lanes and pedestrians on which the vehicle 100 should travel based on the image captured by the camera or the like of the camera device 150. It may be configured to recognize an obstacle such as the above and output it to the control device 110.
ナビゲーション装置160は、運転者等からの入力に基づいて所定の目的地までの経路を計算し、案内する。ナビゲーション装置160は、不図示の不揮発性メモリを備え、この不揮発性メモリに地図データを格納してもよいし、メモリ110Bに格納されている地図データを取得してもよいし、通信装置120から地図データを取得してもよい。地図データは、道路種別の情報や、道路標識、信号機などに関する情報が含まれる。また、地図データは、施設、住所、道路の交差点等のノードと呼ばれる特定地点の位置情報と、リンクと呼ばれるノード間を接続する道路に相当する情報を含んでいる。位置情報は、例えば、緯度、経度、高度によって示される。 The navigation device 160 calculates and guides a route to a predetermined destination based on an input from a driver or the like. The navigation device 160 includes a non-volatile memory (not shown), and map data may be stored in the non-volatile memory, map data stored in the memory 110B may be acquired, or the map data may be acquired from the communication device 120. Map data may be acquired. The map data includes information on road types, road signs, traffic lights, and the like. In addition, the map data includes location information of specific points called nodes such as facilities, addresses, and road intersections, and information corresponding to roads connecting the nodes called links. Location information is indicated by, for example, latitude, longitude, and altitude.
また、経路を計算するためのプロセッサは、ナビゲーション装置160に搭載してもよいが、プロセッサ110Aに実行させてもよい。また、車両100の現在位置情報は、通信装置120が受信したGPS信号に基づいて得られる位置情報を制御装置110から取得するように構成してもよいし、ナビゲーション装置160自身がGPS信号を受信してもよい。なおナビゲーション装置160は、運転者等が保有する情報処理端末から構成してもよい。この場合、情報処理端末と車両100を通信装置120の機器等と接続し、経路を案内するための経路案内情報等を車両100の入出力装置180から出力させてもよい。 Further, the processor for calculating the route may be mounted on the navigation device 160, or may be executed by the processor 110A. Further, the current position information of the vehicle 100 may be configured to acquire the position information obtained from the control device 110 based on the GPS signal received by the communication device 120, or the navigation device 160 itself receives the GPS signal. You may. The navigation device 160 may be composed of an information processing terminal owned by a driver or the like. In this case, the information processing terminal and the vehicle 100 may be connected to the device or the like of the communication device 120, and the route guidance information or the like for guiding the route may be output from the input / output device 180 of the vehicle 100.
駆動装置170は、車両100のエンジン、ブレーキ、ハンドル操作のためのモータその他のアクチュエータを備え、制御装置110から受信する制御信号に基づいて動作する。なお、車両100は、運転者等によるアクセルペダル、ブレーキペダル、ハンドル等の操作に基づいて制御装置が制御信号を駆動装置170等に出力するように構成してもよいが、レーダ装置140やカメラ装置150等から取得する信号に基づいて制御装置110が自律的に運転するための制御信号を駆動装置170等に出力する自動運転機能が備わっていてもよい。また、車両100は、バッテリーと電動モータを備える電気自動車でもよい。 The drive device 170 includes an engine, a brake, a motor and other actuators for operating the steering wheel of the vehicle 100, and operates based on a control signal received from the control device 110. The vehicle 100 may be configured such that the control device outputs a control signal to the drive device 170 or the like based on the operation of the accelerator pedal, the brake pedal, the handle, or the like by the driver or the like, but the radar device 140 or the camera It may be provided with an automatic operation function that outputs a control signal for autonomous operation of the control device 110 to the drive device 170 or the like based on a signal acquired from the device 150 or the like. Further, the vehicle 100 may be an electric vehicle including a battery and an electric motor.
入出力装置180は、車両100に運転者等が情報を入力するためのタッチパネルやマイクロホンなどの入力装置と音声認識処理ソフトウェアを備え、運転者のタッチパネルの押圧操作又は運転者の発声に基づいて車両100を制御するために必要な情報を入力できるように構成されている。また、画像情報を出力するための液晶ディスプレイ、HUDその他のディスプレイや、音声情報を出力するための一又は複数のスピーカなどの出力装置を備えている。 The input / output device 180 includes an input device such as a touch panel and a microphone for the driver and the like to input information to the vehicle 100 and voice recognition processing software, and the vehicle is based on a pressing operation of the touch panel of the driver or a voice of the driver. It is configured so that information necessary for controlling 100 can be input. It also includes a liquid crystal display for outputting image information, a HUD or other display, and an output device such as one or more speakers for outputting audio information.
図4は、情報処理装置10の機能ブロック構成の一例を示す図である。情報処理装置10は、受信部101と、故障判定部102と、検知部103と、送信部104と、記憶部105とを含む。 FIG. 4 is a diagram showing an example of a functional block configuration of the information processing device 10. The information processing device 10 includes a receiving unit 101, a failure determination unit 102, a detecting unit 103, a transmitting unit 104, and a storage unit 105.
受信部101は、自動運転車両が備える無線通信手段から送信された信号を受信する。受信部101は、例えば、車両100周辺を含む、車両100の前方及び後方を撮像したカメラ装置150の画像情報や、通信装置120を介して送信された車両100の位置情報、車速及び進行方向(方位)情報、車両100の走行予定ルート情報を受信する。受信部101により受信した情報は、記憶部105の画像情報DB105a又は走行予定ルート情報DB105bに記憶される。 The receiving unit 101 receives the signal transmitted from the wireless communication means included in the autonomous driving vehicle. The receiving unit 101 includes, for example, image information of the camera device 150 that images the front and rear of the vehicle 100 including the periphery of the vehicle 100, position information of the vehicle 100 transmitted via the communication device 120, vehicle speed, and traveling direction ( Orientation) information and planned travel route information of the vehicle 100 are received. The information received by the receiving unit 101 is stored in the image information DB 105a of the storage unit 105 or the planned travel route information DB 105b.
故障判定部102は、車両100の無線通信手段からの信号に基づいて、カメラ装置150(車外監視カメラ)が故障した故障車両を判定する。故障判定部102により判定された故障車両は、記憶部105の故障車両DB105cに記憶される。故障判定部102は、カメラ装置150によって撮像された画像情報(車両100の前方、左右及び後方の画像情報)の少なくとも1つを受信部101によって受信していないときに、カメラ装置150の故障と判定する。言い換えれば、情報処理装置10が受信するカメラ装置150の画像情報に異常が発生しているときに、故障判定部102は、カメラ装置150の故障と判定する。このように、少なくとも1つのカメラ装置150の故障と故障判定部102により判定された車両100を、本明細書では故障車両と称する。 The failure determination unit 102 determines a failed vehicle in which the camera device 150 (outside surveillance camera) has failed, based on a signal from the wireless communication means of the vehicle 100. The faulty vehicle determined by the fault determination unit 102 is stored in the faulty vehicle DB 105c of the storage unit 105. When the failure determination unit 102 does not receive at least one of the image information (image information in front, left, right, and rear of the vehicle 100) captured by the camera device 150 by the receiving unit 101, the failure determination unit 102 determines that the camera device 150 has failed. judge. In other words, when an abnormality occurs in the image information of the camera device 150 received by the information processing device 10, the failure determination unit 102 determines that the camera device 150 has a failure. As described above, the vehicle 100 determined by the failure determination unit 102 as to the failure of at least one camera device 150 is referred to as a failed vehicle in the present specification.
検知部103は、カメラ装置150の故障と判定された故障車両の故障地点からの走行予定ルートと、少なくとも一部の区間が同一のルートを走行予定の車両100(以下、特定車両と称する)を検知する。検知部103で検知された特定車両は、記憶部105の特定車両DB105dに記憶される。 The detection unit 103 determines a vehicle 100 (hereinafter referred to as a specific vehicle) scheduled to travel on a route in which at least a part of the sections are the same as the planned travel route from the failure point of the failed vehicle determined to be the failure of the camera device 150. Detect. The specific vehicle detected by the detection unit 103 is stored in the specific vehicle DB 105d of the storage unit 105.
送信部104、特定車両の前方又は後方するように、故障車両に走行制御情報を送信する。故障車両の走行制御の詳細は後述する。 The transmission unit 104 transmits travel control information to the failed vehicle so as to be in front of or behind the specific vehicle. The details of the running control of the failed vehicle will be described later.
なお、記憶部105には、前述した画像情報DB105a、走行予定ルート情報105b、故障車両DB105c、特定車両DB105dに加えて、同一目的地車両DB105eが含まれる。同一目的地車両DB105eには、故障車両の最終目的地と同一の目的地に向かっている車両の情報が格納される。 The storage unit 105 includes the same destination vehicle DB 105e in addition to the above-mentioned image information DB 105a, planned travel route information 105b, broken vehicle DB 105c, and specific vehicle DB 105d. The same destination vehicle DB 105e stores information on vehicles heading for the same destination as the final destination of the failed vehicle.
<処理手順>
続いて、情報処理装置10が行う処理手順について説明する。図5は、情報処理装置が行う処理手順の一例を示すフローチャートである。
<Processing procedure>
Subsequently, the processing procedure performed by the information processing apparatus 10 will be described. FIG. 5 is a flowchart showing an example of a processing procedure performed by the information processing apparatus.
ステップS101で、車両100の画像情報等を情報処理装置10に送信する。この画像情報等には、例えば、車両100の周辺(車両100の前方、後方及び左右)を撮像したカメラ装置150の画像情報に加え、通信装置120を介して送信された車両100の位置情報、時刻情報、車速及び進行方向(方位)情報が含まれる。なお、本明細書における「画像情報等」には、これらの情報に限定されず、以下で説明する走行制御情報に必要な情報が含まれる。このように、車両100の無線通信手段(通信装置120)からの信号には、走行している車両100の周辺を撮像する車外監視カメラ(カメラ装置150)の画像情報が含まれる。 In step S101, the image information of the vehicle 100 and the like are transmitted to the information processing device 10. The image information and the like include, for example, the position information of the vehicle 100 transmitted via the communication device 120, in addition to the image information of the camera device 150 that images the periphery of the vehicle 100 (front, rear, left and right of the vehicle 100). Includes time information, vehicle speed and direction of travel (azimuth) information. The "image information, etc." in the present specification is not limited to these information, and includes information necessary for the traveling control information described below. As described above, the signal from the wireless communication means (communication device 120) of the vehicle 100 includes the image information of the vehicle exterior surveillance camera (camera device 150) that images the periphery of the traveling vehicle 100.
ステップS102で、走行している車両100から送信された画像情報等を、情報処理装置10(センタ)が受信する。 In step S102, the information processing device 10 (center) receives the image information and the like transmitted from the traveling vehicle 100.
ステップS103で、情報処理装置10は、受信した画像情報等に基づいて、車両100毎に、走行予定ルートを含む情報を記憶部105に格納する。 In step S103, the information processing device 10 stores information including a planned travel route in the storage unit 105 for each vehicle 100 based on the received image information and the like.
ステップS104で、車両100の通信装置120からの信号に基づいて、車両100に搭載されたカメラ装置150が故障しているか否かを、故障判定部102が判定する。故障判定部102は、カメラ装置150によって撮像された、車両100の前方、左右及び後方の画像情報の少なくとも1つを受信部101によって受信していないときに、カメラ装置150の故障と判定する。故障判定部102により、カメラ装置150が故障していないと判定された場合には(ステップS104(NO))、ステップS102に戻り前述のステップを繰り返し、カメラ装置150が故障していると判定された場合には(ステップS104(YES))、ステップS105に進む。 In step S104, the failure determination unit 102 determines whether or not the camera device 150 mounted on the vehicle 100 has failed based on the signal from the communication device 120 of the vehicle 100. The failure determination unit 102 determines that the camera device 150 has a failure when at least one of the front, left, right, and rear image information of the vehicle 100 captured by the camera device 150 is not received by the reception unit 101. When the failure determination unit 102 determines that the camera device 150 has not failed (step S104 (NO)), the process returns to step S102 and the above steps are repeated, and it is determined that the camera device 150 has failed. If so (step S104 (YES)), the process proceeds to step S105.
ステップS105で、検知部103は、少なくとも1つのカメラ装置150の故障と判定された故障車両の故障地点からの走行予定ルートと、少なくとも一部の区間が同一のルートを走行予定の特定車両を検知する。例えば、検知部103は、故障車両が発生したときの周辺に位置する車両100(以下、周辺車両ともする)の中から、故障車両の走行予定ルートと最も走行予定ルートが重複する区間が多い車両100を検知して、当該車両100を特定車両としてもよい。ステップS105で、検知部103により特定車両が検知されるまでステップS105の処理を繰り返し、特定車両が検知された場合に、ステップS106に進む。なお、ステップS105において、特定車両が検知されない場合には、例えば、故障車両を故障した地点の周辺の安全な場所に一時停止させ、特定車両が到着するまで待機するよう故障車両に走行制御情報を送信するようにしてもよい。 In step S105, the detection unit 103 detects a specific vehicle that is scheduled to travel on the same route as the planned travel route from the failure point of the failed vehicle determined to be the failure of at least one camera device 150. To do. For example, the detection unit 103 has many sections in which the planned travel route of the failed vehicle and the planned travel route overlap most among the 100 vehicles (hereinafter, also referred to as peripheral vehicles) located in the vicinity when the failed vehicle occurs. 100 may be detected and the vehicle 100 may be designated as a specific vehicle. In step S105, the process of step S105 is repeated until the detection unit 103 detects the specific vehicle, and when the specific vehicle is detected, the process proceeds to step S106. If the specific vehicle is not detected in step S105, for example, the malfunctioning vehicle is temporarily stopped at a safe place around the faulty point, and the traveling control information is provided to the faulty vehicle so as to wait until the specific vehicle arrives. You may send it.
ステップS106で、情報処理装置10の送信部104は、故障判定部102により判定された故障車両に、以下で説明する走行制御情報を送信する。後述するように、送信部104が故障車両に送信する走行制御情報は、故障車両の前方又は後方を走行する車両の車外監視カメラにより撮像された画像情報を基に生成された情報を含む。 In step S106, the transmission unit 104 of the information processing device 10 transmits the travel control information described below to the failed vehicle determined by the failure determination unit 102. As will be described later, the travel control information transmitted by the transmission unit 104 to the failed vehicle includes information generated based on the image information captured by the vehicle exterior surveillance camera of the vehicle traveling in front of or behind the failed vehicle.
ステップS107で、送信部104から送信された走行制御情報を故障車両が受信する。当該走行制御情報に基づき、当該故障車両は、コンボイ走行(ステップS108)に移行する。 In step S107, the faulty vehicle receives the travel control information transmitted from the transmission unit 104. Based on the travel control information, the failed vehicle shifts to convoy travel (step S108).
ステップS108に示すコンボイ走行について、図6に示す例を参照しながら説明する。図6(A)は、コンボイ走行に移行する前の状態を示し、図6(B)は、コンボイ走行に移行した後の状態を示す。図6では、各車両に搭載されたカメラ装置(車外監視カメラ)の撮像範囲をRA1(車両の前方の撮像範囲)、RA2(車両の左右の撮像範囲)、RA3(車両の後方の撮像範囲)で示している。また図6では、故障車両を符号100Fa、100Fbで示し、特定車両を符号100Sa、100Sbで示し、故障車両の周辺を走行する車両を符号100B、100C、100D、100J、100K、100Lで示している。 The convoy running shown in step S108 will be described with reference to the example shown in FIG. FIG. 6A shows a state before shifting to convoy running, and FIG. 6B shows a state after shifting to convoy running. In FIG. 6, the imaging range of the camera device (outside surveillance camera) mounted on each vehicle is RA1 (imaging range in front of the vehicle), RA2 (imaging range on the left and right of the vehicle), RA3 (imaging range behind the vehicle). It is shown by. Further, in FIG. 6, the failed vehicle is indicated by reference numerals 100Fa and 100Fb, the specific vehicle is indicated by reference numerals 100Sa and 100Sb, and the vehicle traveling around the failed vehicle is indicated by reference numerals 100B, 100C, 100D, 100J, 100K and 100L. ..
図6(A)の上側車線(図6における左方向が進行方向の車線)では、車両の前方側を撮像するカメラ装置が故障した車両を、故障車両100Faとして示している。当該故障車両100Faの故障地点からの走行予定ルートと、少なくとも一部の区間が同一のルートを走行予定の特定車両100Saが検知された場合に、当該特定車両100Saの後方を走行するように、故障車両100Faに走行制御情報を送信する(言い換えれば、故障車両100Faを図6(A)の矢印Raに示す方向に移動させ、故障車両100Faと特定車両100Saとの車間距離を詰めるように走行制御する)。このように故障車両100Faの走行制御が行われると、図6(B)に示すように、故障車両100Faは、特定車両100Saの後方を走行した状態で自動運転が継続される。なお、コンボイ走行する特定車両100Saのカメラ装置によって前方側を撮像した画像情報を、車車間通信(特定車両100Saと故障車両100Faとの間の通信)又は情報処理装置10を介して故障車両100Faに送信し、これにより故障したカメラ装置の機能を補完するようにして故障車両100Faの自動運転を継続するようにしてもよい。以上のように、故障車両に搭載された車外監視カメラのうち、故障車両の前方を撮像する車外監視カメラが故障していると故障判定部102により判定された場合には、送信部104は、特定車両の後方を走行するように、故障車両に走行制御情報を送信する。 In the upper lane of FIG. 6A (the lane in which the left direction in FIG. 6 is the traveling direction), the vehicle in which the camera device for imaging the front side of the vehicle has failed is shown as the failed vehicle 100Fa. When a specific vehicle 100Sa scheduled to travel on the same route as the planned travel route from the failure point of the defective vehicle 100F is detected, the vehicle fails so as to travel behind the specific vehicle 100Sa. Travel control information is transmitted to the vehicle 100F (in other words, the faulty vehicle 100F is moved in the direction indicated by the arrow Ra in FIG. 6A, and the travel is controlled so as to reduce the inter-vehicle distance between the faulty vehicle 100F and the specific vehicle 100Sa. ). When the traveling control of the faulty vehicle 100F is performed in this way, as shown in FIG. 6B, the faulty vehicle 100F continues to automatically drive in a state of traveling behind the specific vehicle 100Sa. The image information captured on the front side by the camera device of the specific vehicle 100Sa traveling in the convoy is transmitted to the failed vehicle 100F via inter-vehicle communication (communication between the specific vehicle 100Sa and the failed vehicle 100F) or the information processing device 10. The automatic operation of the failed vehicle 100F may be continued by transmitting and thereby complementing the function of the failed camera device. As described above, when the failure determination unit 102 determines that the out-of-vehicle surveillance camera that images the front of the failed vehicle among the out-of-vehicle surveillance cameras mounted on the failed vehicle is out of order, the transmission unit 104 determines. Travel control information is transmitted to the malfunctioning vehicle so that the vehicle travels behind the specific vehicle.
また図6(A)の下側車線(図6における右方向が進行方向の車線)では、車両の後方側を撮像するカメラ装置が故障した車両を、故障車両100Fbとして示している。当該故障車両100Fbの故障地点からの走行予定ルートと、少なくとも一部の区間が同一のルートを走行予定の特定車両100Sbが検知された場合に、当該特定車両100Sbの前方を故障車両100Fbが走行するように、特定車両100Sb又は故障車両100Fbに走行制御情報を送信する(例えば、特定車両100Sbを図6(A)の矢印Rbに示す方向に移動させ、故障車両100Fbと特定車両100Sbとの間の車間距離を詰めるように走行制御する。この例では特定車両100Sbの走行制御を行っているが、故障車両100Fbの走行制御を行って当該車間距離を詰めるように走行制御をしてもよい)。このように特定車両100Sb又は故障車両100Fbの走行制御が行われると、図6(B)に示すように、故障車両100Fbは、特定車両100Sbの前方を走行した状態で自動運転が継続される。なお、コンボイ走行する特定車両100Sbのカメラ装置によって後方側を撮像した画像情報を、車車間通信(特定車両100Sbと故障車両100Fbとの間の通信)又は情報処理装置10を介して故障車両100Fbに送信し、これにより故障したカメラ装置の機能を補完するようにして故障車両100Fbの自動運転を継続するようにしてもよい。以上のように、故障車両に搭載された車外監視カメラのうち、故障車両の後方を撮像する車外監視カメラが故障していると故障判定部102により判定された場合には、送信部104は、特定車両の前方を走行するように、故障車両に走行制御情報を送信する。 Further, in the lower lane of FIG. 6A (the lane in which the right direction in FIG. 6 is the traveling direction), the vehicle in which the camera device for imaging the rear side of the vehicle has failed is shown as the failed vehicle 100Fb. When a specific vehicle 100Sb scheduled to travel on the same route as the planned travel route from the failure point of the defective vehicle 100Fb is detected, the defective vehicle 100Fb travels in front of the specific vehicle 100Sb. As described above, the traveling control information is transmitted to the specific vehicle 100Sb or the defective vehicle 100Fb (for example, the specific vehicle 100Sb is moved in the direction indicated by the arrow Rb in FIG. Travel control is performed so as to reduce the inter-vehicle distance. In this example, the travel control of the specific vehicle 100Sb is performed, but the traveling control of the failed vehicle 100Fb may be performed to reduce the inter-vehicle distance). When the traveling control of the specific vehicle 100Sb or the defective vehicle 100Fb is performed in this way, as shown in FIG. 6B, the defective vehicle 100Fb continues to be automatically driven while traveling in front of the specific vehicle 100Sb. It should be noted that the image information captured on the rear side by the camera device of the specific vehicle 100Sb traveling in the convoy is transmitted to the failed vehicle 100Fb via vehicle-to-vehicle communication (communication between the specific vehicle 100Sb and the failed vehicle 100Fb) or the information processing device 10. The automatic operation of the failed vehicle 100Fb may be continued by transmitting and thereby complementing the function of the failed camera device. As described above, when the failure determination unit 102 determines that the outside monitoring camera that images the rear of the failed vehicle among the outside monitoring cameras mounted on the failed vehicle is out of order, the transmission unit 104 determines. Travel control information is transmitted to the malfunctioning vehicle so that the vehicle travels in front of the specific vehicle.
なお、前述したステップS108において、走行している特定車両100Sa、100Sbの走行予定ルートが、当該特定車両100Sa、100Sbの前方又は後方を走行する故障車両100Fa、100Fbの走行予定ルートから外れることを検知部103により検知された場合に、検知部103は、故障車両100Fa、100Fbの最終目的地と同一の目的地へ走行予定の車両100(同一目的地車両)を検知してもよい。検知部103により同一目的地車両を検知した場合には、送信部104は、同一目的地車両の前方又は後方を走行するように、故障車両100Fa、100Fbに走行制御情報を送信してもよい。 In step S108 described above, it is detected that the planned travel route of the specified vehicles 100Sa and 100Sb traveling deviates from the planned travel route of the failed vehicles 100Fa and 100Fb traveling in front of or behind the specific vehicle 100Sa and 100Sb. When detected by the unit 103, the detection unit 103 may detect the vehicle 100 (same destination vehicle) scheduled to travel to the same destination as the final destinations of the failed vehicles 100F and 100Fb. When the detection unit 103 detects the same destination vehicle, the transmission unit 104 may transmit the travel control information to the failed vehicles 100Fa and 100Fb so as to travel in front of or behind the same destination vehicle.
また、前述したステップS108において、走行している特定車両100Sa、100Sbの走行予定ルートが、特定車両100Sa、100Sbの前方又は後方を走行する故障車両100Fa、100Fbの走行予定ルートから外れることを検知部103により検知された場合に、送信部104は、検知された場所周辺の特定区域に故障車両100Fa、100Fbを一時停止させ、故障車両100Fa、100Fbの走行予定ルートと同じルートを走行する車両100を待機するよう、走行制御情報を送信してもよい。 Further, in step S108 described above, the detection unit detects that the planned travel route of the specified vehicles 100Sa and 100Sb traveling deviates from the planned travel route of the failed vehicles 100F and 100Fb traveling in front of or behind the specific vehicles 100Sa and 100Sb. When detected by 103, the transmission unit 104 suspends the failed vehicles 100Fa and 100Fb in a specific area around the detected location, and causes the vehicle 100 traveling on the same route as the planned travel route of the failed vehicles 100Fa and 100Fb. Travel control information may be transmitted to wait.
なお、以上説明した実施形態では、特定車両が自動運転車両の例を説明したが、この例に限定されず、特定車両は、自動運転車両でなくてもよい。 In the embodiment described above, an example in which the specific vehicle is an autonomous driving vehicle has been described, but the specific vehicle is not limited to this example, and the specific vehicle does not have to be an autonomous driving vehicle.
また、送信部104が故障車両に送信する走行制御情報は、前方又は後方を走行する特定車両(ガイド車両)の車外監視カメラで撮像された画像情報だけでなく、故障車両の周辺を走行する車両(周辺車両)の車外監視カメラで撮像された画像情報を含ませてもよい。つまり、これらの画像情報を基に、故障車両に提供する自動運転情報を生成してもよい。また、以上説明した実施形態では、送信部104が故障車両に走行制御情報を送信する例を説明したが、送信部104が特定車両に情報(例えば、故障車両の位置情報、時間情報、車速及び進行方向情報、及び、周辺車両の画像情報、位置情報、時間情報、車速及び進行方向情報を含むその他の情報)を送信し、当該情報を受信した特定車両が、故障車両の前方又は後方に移動(コンボイ走行)するように走行制御を行ってもよい。 Further, the travel control information transmitted by the transmission unit 104 to the failed vehicle is not only the image information captured by the outside monitoring camera of the specific vehicle (guide vehicle) traveling in front or behind, but also the vehicle traveling around the failed vehicle. Image information captured by an external surveillance camera of (peripheral vehicle) may be included. That is, based on these image information, the automatic driving information to be provided to the failed vehicle may be generated. Further, in the above-described embodiment, the example in which the transmission unit 104 transmits the traveling control information to the failed vehicle has been described, but the transmission unit 104 provides information to the specific vehicle (for example, the position information, time information, vehicle speed, and vehicle speed of the failed vehicle. The specific vehicle that receives the information on the direction of travel and other information including image information, position information, time information, vehicle speed, and direction information of surrounding vehicles is moved to the front or rear of the failed vehicle. Travel control may be performed so as to perform (convoy travel).
以上説明した実施形態は、本発明の理解を容易にするためのものであり、本発明を限定して解釈するためのものではない。以上説明した実施形態では、情報処理装置と、情報処理装置から提供される走行制御情報を受信し、当該走行制御情報に基づいて自動運転モードに移行する自動運転車両とを備える自動走行制御システムの例を説明したが、例えば、情報処理装置が備える各機能を自動運転車両に搭載してもよいし、以上説明した情報処理装置の各機能部の処理のうち少なくとも一部の処理を自動運転車両に搭載するようにしてもよい。実施形態で説明したフローチャート、シーケンス、実施形態が備える各要素並びにその配置、材料、条件、形状及びサイズ等は、例示したものに限定されるわけではなく適宜変更することができる。また、異なる実施形態で示した構成同士を部分的に置換し又は組み合わせることが可能である。 The embodiments described above are for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. In the embodiment described above, an automatic driving control system including an information processing device and an automatic driving vehicle that receives driving control information provided by the information processing device and shifts to an automatic driving mode based on the driving control information. Although an example has been described, for example, each function of the information processing device may be mounted on the autonomous driving vehicle, or at least a part of the processes of each functional unit of the information processing device described above may be performed on the autonomous driving vehicle. It may be mounted on. The flowchart, sequence, each element included in the embodiment, its arrangement, material, condition, shape, size, and the like described in the embodiment are not limited to those exemplified, and can be appropriately changed. In addition, the configurations shown in different embodiments can be partially replaced or combined.
1…自動走行制御システム、10…情報処理装置、100…車両、101…受信部、102…故障判定部、103…検知部、104…送信部、105…記憶部、120…通信装置 1 ... Automatic driving control system, 10 ... Information processing device, 100 ... Vehicle, 101 ... Receiver unit, 102 ... Failure determination unit, 103 ... Detection unit, 104 ... Transmission unit, 105 ... Storage unit, 120 ... Communication device
Claims (10)
前記自動運転車両が備える無線通信手段から送信された信号を受信する受信部と、
前記無線通信手段からの信号に基づいて、前記車外監視カメラが故障した故障車両を判定する故障判定部と、
前記車外監視カメラの故障と判定された前記故障車両の故障地点からの走行予定ルートと、少なくとも一部の区間が同一のルートを走行予定の特定車両を検知する検知部と、
前記特定車両の前方又は後方を走行するように、前記故障車両に走行制御情報を送信する送信部と、
を備える情報処理装置。 It is an information processing device that transmits control information necessary for autonomous driving to an autonomous driving vehicle equipped with an outside surveillance camera.
A receiving unit that receives a signal transmitted from the wireless communication means included in the autonomous driving vehicle, and
Based on the signal from the wireless communication means, the failure determination unit that determines the failed vehicle in which the outside surveillance camera has failed, and
A detection unit that detects a specific vehicle that is scheduled to travel on the same route as the planned travel route from the failure point of the failed vehicle that is determined to be a failure of the external surveillance camera.
A transmission unit that transmits travel control information to the failed vehicle so as to travel in front of or behind the specific vehicle.
Information processing device equipped with.
請求項1に記載の情報処理装置。 The signal from the wireless communication means includes image information of the outside surveillance camera that images the periphery of the autonomous driving vehicle in motion.
The information processing device according to claim 1.
請求項1又は2に記載の情報処理装置。 The outside surveillance camera captures the front, left, right, and rear of the traveling self-driving vehicle, respectively.
The information processing device according to claim 1 or 2.
請求項1乃至3のいずれか一項に記載の情報処理装置。 The travel control information transmitted by the transmission unit to the faulty vehicle is information generated based on the image information captured by the outside surveillance camera of the vehicle traveling in front of or behind the faulty vehicle.
The information processing device according to any one of claims 1 to 3.
請求項1乃至4のいずれか一項に記載の情報処理装置。 When the failure determination unit does not receive at least one of the front, left, right, and rear image information of the autonomous driving vehicle captured by the outside monitoring camera by the reception unit, the failure determination unit fails the outside monitoring camera. Judge,
The information processing device according to any one of claims 1 to 4.
請求項1乃至5のいずれか一項に記載の情報処理装置。 When the failure determination unit determines that the outside monitoring camera that images the front of the failed vehicle among the outside monitoring cameras mounted on the failed vehicle is out of order, the transmission unit uses the transmitter. The driving control information is transmitted to the failed vehicle so as to drive behind the specific vehicle.
The information processing device according to any one of claims 1 to 5.
請求項1乃至5のいずれか一項に記載の情報処理装置。 When the failure determination unit determines that the outside monitoring camera that images the rear of the failed vehicle among the outside monitoring cameras mounted on the failed vehicle is out of order, the transmission unit uses the transmitter. The driving control information is transmitted to the failed vehicle so as to drive in front of the specific vehicle.
The information processing device according to any one of claims 1 to 5.
前記送信部は、前記同一目的地車両の前方又は後方を走行するように、前記故障車両に走行制御情報を送信する、
請求項1乃至7のいずれか一項に記載の情報処理装置。 The detection unit has the same destination as the destination of the failed vehicle when the traveling route of the specified vehicle deviating from the planned traveling route of the failed vehicle traveling in front of or behind the specific vehicle. Detects the same destination vehicle scheduled to travel to
The transmission unit transmits travel control information to the failed vehicle so as to travel in front of or behind the same destination vehicle.
The information processing device according to any one of claims 1 to 7.
請求項1乃至7のいずれか一項に記載の情報処理装置。 When the detection unit detects that the traveling route of the specified vehicle that is traveling deviates from the planned traveling route of the failed vehicle traveling in front of or behind the specific vehicle, the transmitting unit detects the detection. The traveling control information is transmitted so as to suspend the failed vehicle in a specific area around the designated place and wait for a vehicle traveling on the same route as the planned traveling route of the failed vehicle.
The information processing device according to any one of claims 1 to 7.
前記情報処理装置から提供される前記走行制御情報を受信し、前記走行制御情報に基づいて自動運転モードに移行する自動運転車両と、
を備える自動走行制御システム。 The information processing apparatus according to any one of claims 1 to 9,
An autonomous driving vehicle that receives the traveling control information provided from the information processing device and shifts to the automatic driving mode based on the traveling control information.
Automatic driving control system equipped with.
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